A Robust Control Architecture for Dual User Teleoperation System with Time-Delay

Dual-user teleoperation systems consisting of two master robots and one slave robot can be employed in order to facilitate the collaboration of two operators in a cooperative operation. Although, the stability as well as the performance of such systems suffers from undesired effects of latency, the significant issue of communication delay has been disregarded in the previous reported studies upon dual-user systems. Therefore, in this paper a robust controller based on mu-synthesis for dual-user systems is presented which overcomes the undesired effect of constant communication delay in the dual-user systems. The latency has been considered between the masters' side and the slave side. In addition to the ability of the controller to cope with latency, it can manipulate the system in a wide range of uncertainty on the dynamics of operators' hand. The validity of the proposed controller scheme is demonstrated on a delayed dual-user system via simulation.